This document introduces the iNEMO Engine Lite sensor fusion algorithm demonstration source code for STM32F103 microcontrollers. The algorithm achieves accurate motion tracking and reliable compass heading for accurate navigation. It utilizes a 7-state extended Kalman filter and outputs quaternions, heading, pitch, and roll. The maximum output data rate is 100 Hz, and the system requirements include 7 kbyte Flash memory and 5 kbyte RAM.
The document details the iNEMOEngine_LI3, an advanced software engine designed to fuse accelerometer, gyroscope, and magnetometer data. It provides accurate motion tracking and reliable compass heading suitable for smart consumer devices.
The demonstration firmware is specifically written as source code for STM32F103 microcontrollers but remains compatible with all STM32 hardware platforms. Key outputs include quaternions, heading, pitch, and roll.
| Microcontroller Target | STM32F103 microcontrollers |
|---|---|
| Filter Type | 7-state extended Kalman filter |
| Maximum Output Data Rate (ODR) | 100 Hz |
| Flash Memory Requirement | 7 kbyte |
| RAM Requirement | 5 kbyte (dynamically allocated) |
The library provides source code specifically for STM32F103 microcontrollers but is compatible with all STM32 hardware platforms.
The system outputs quaternions, heading, pitch, and roll.